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#ifndef MAPVIZ_PLUGINS__MARKER_PLUGIN_H_
#define MAPVIZ_PLUGINS__MARKER_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QListWidgetItem>

// ROS libraries
#include <tf2/transform_datatypes.h>
#include <visualization_msgs/msg/marker.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

#include <boost/functional/hash.hpp>

#include <mapviz/map_canvas.h>

// C++ standard libraries
#include <string>
#include <utility>
#include <unordered_map>
#include <vector>

// QT autogenerated files
#include "ui_marker_config.h"

namespace mapviz_plugins
{
using MarkerId = std::pair<std::string, int>;

struct MarkerIdHash {
  std::size_t operator () (const MarkerId &p) const {
    std::size_t seed = 0;
    boost::hash_combine(seed, p.first);
    boost::hash_combine(seed, p.second);
    return seed;
  }
};

struct MarkerNsHash {
  std::size_t operator () (const std::string &p) const {
    std::size_t seed = 0;
    boost::hash_combine(seed, p);
    return seed;
  }
};

class MarkerPlugin : public mapviz::MapvizPlugin
{
  Q_OBJECT

public:
  MarkerPlugin();
  ~MarkerPlugin() override = default;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void Draw(double x, double y, double scale) override;
  void Paint(QPainter* painter, double x, double y, double scale) override;

  void Transform() override;

  void LoadConfig(const YAML::Node& node, const std::string& path) override;
  void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;

  QWidget* GetConfigWidget(QWidget* parent) override;

  bool SupportsPainting() override
  {
    return true;
  }

protected:
  void PrintError(const std::string& message) override;
  void PrintInfo(const std::string& message) override;
  void PrintWarning(const std::string& message) override;
  void timerEvent(QTimerEvent *) override;

protected Q_SLOTS:
  void SelectTopic();
  void TopicEdited();
  void ClearHistory() override;

private:
  struct Color
  {
    float r, g, b, a;
  };

  struct StampedPoint
  {
    tf2::Vector3 point;
    tf2::Quaternion orientation;

    tf2::Vector3 transformed_point;

    tf2::Vector3 arrow_point;
    tf2::Vector3 transformed_arrow_point;
    tf2::Vector3 transformed_arrow_left;
    tf2::Vector3 transformed_arrow_right;

    Color color;
  };

  struct MarkerData
  {
    rclcpp::Time stamp;
    rclcpp::Time expire_time;

    int display_type;
    Color color;

    std::vector<StampedPoint> points;
    std::string text;

    float scale_x;
    float scale_y;
    float scale_z;

    std::string source_frame;
    swri_transform_util::Transform local_transform;

    bool transformed;
  };

  Ui::marker_config ui_{};
  QWidget* config_widget_;

  std::string topic_;
  rmw_qos_profile_t qos_;

  rclcpp::Subscription<visualization_msgs::msg::Marker>::SharedPtr marker_sub_;
  rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr marker_array_sub_;
  bool connected_;
  bool has_message_{};

  std::unordered_map<MarkerId, MarkerData, MarkerIdHash> markers_;
  std::unordered_map<std::string, bool, MarkerNsHash> marker_visible_;

  void handleMarker(visualization_msgs::msg::Marker::ConstSharedPtr marker);
  void handleMarkerArray(visualization_msgs::msg::MarkerArray::ConstSharedPtr markers);
  void processMarker(const visualization_msgs::msg::Marker& marker);
  void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
  void transformArrow(MarkerData& markerData,
                      const swri_transform_util::Transform& transform);
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__MARKER_PLUGIN_H_
